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This paper presents a new vehicle guidance paradigm based on high level commands together with a new system architecture that can handle different levels of automation. First, an overview of different automation levels spanning from manual driving to fully autonomous driving is given, then a detailed description of the digital driving paradigm is also shown. This includes a detailed description of the maneuver level planner which is based on a new concept of planning based on checkpoints. Then, an overview of the new architecture is given, describing is key aspects. An analysis of the proposed paradigm, with the description of a preliminary tests in real scenarios concludes this paper.
Broggi et al. (Sat,) studied this question.
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